#ifndef NAV_DWB_CRITICS__PATH_DIST_HPP_
#define DWB_CRITICS__PATH_DIST_HPP_

#include "nav_dwb_critics/map_grid.hpp"

namespace nav_dwb_critics
{
/**
 * @class PathDistCritic
 * @brief Scores trajectories based on how far from the global path they end up.
 */
class PathDistCritic : public MapGridCritic
{
public:
  bool prepare(
    const geometry_msgs::msg::Pose2D & pose, const nav_2d_msgs::msg::Twist2D & vel,
    const geometry_msgs::msg::Pose2D & goal, const nav_2d_msgs::msg::Path2D & global_plan) override;
};

}  // namespace nav_dwb_critics
#endif  // NAV_DWB_CRITICS__PATH_DIST_HPP_
